Check image dimensions match info_msg
Publish tweaks to config_ so they appear in reconfigure_gui
Could save copies by allocating this above and having output.image alias it
Faster to convert directly to mono when color is not requested, but OpenCV doesn't support
If no distortion, could just point to the colorized data. But copy is already way faster than remap.
Make these cmd-line args instead?
Test variety of encodings for raw image (bayer, mono, color)